轮式机器人小车变距离运动控制策略的研究与实现

Research and implementation of variable-distance moving control for wheeled robot-car

轮式机器人小车变距离运动是使其在任意设定距离的曲线上实现高速精确运动及停止,基于STC12C5410AD单片机可编程计数器阵列(PCA)/PWM实现轮式机器人小车运动控制的硬件电路设计,并将工业智能调节器的PID控制算法与同步补偿控制算法及模糊控制相结合,实现了轮式机器人小车的变距离运动控制.实践表明,该系统具有硬件电路简单、抗干扰能力强、运动速度快、控制精度高等特点.

The variable-distance moving control means that the wheeled robot-car can quickly move along the curve and also can stop at an arbitrary appointed distance. The hardware circuit of the moving control system is designed by using the Programmable Counter Array （PCA）/PWM of single chip STC12C5410AD as the kernel. Furthermore, a new moving control scheme, which combines the PID control algorithm in industrial intelligent regulator with the synchronous compensation and fuzzy control algorithm, is proposed. The experiments show that the system has characteristics of simple hardware circuit, strong disturbance attenuation, high moving speed and control precision.